| Recently,with the vigorous development of various advanced information technologies,the control of multi-agent systems has become an important research content in the field of control.Among them,the consensus control problem is the main core problem,and it is also a research hotspot in complex systems and fields.The basic idea is to design a distributed control strategy based on local information exchange,and finally make the state of each agent reach a fixed value.The above design ideas can also be used to solve other coordinated control problems.In addition,multi-agent systems can also design related adaptive parameters and make adaptive adjustments to achieve the required performance.In actual production applications,considering that the system needs to complete tasks within a limited time,it saves resource utilization.Therefore,it is more research significance to achieve consensus within a certain time range.The article introduces the problem of a second-order multi-agent system with several different characteristics to complete a consensus target task under parameter adaptation infinite time.The main research contents are as follows:1.First,the parameter adaptive method is used to study the second-order system completing the finite-time consensus target task.A new finite time consensus algorithm is proposed.The new algorithm uses the position difference and speed difference between the agent at this moment and the next moment,and the position difference and speed between the agent and the leader as parameters in the new protocol.Finally,by constructing the function the system can reach a consistent and stable condition in finite time and achieve the consensus control of different agents.The convergence of systems speed is improved.2.Considering the situation that the speed state information is unknown,the speed observer must be used to estimate the speed before the proof.Then according to the position difference between the neighboring agents and the difference between the estimated speed,the position difference between the leader and the agent and the estimated speed difference are taken as parameters in the designed consensus protocol.According to the stability theory and homogeneous theory.Finally,the system completed the consensus control in finite time.3.In the case of communication delay between adjacent agents,by introducing a consensus control gain matrix,based on the delay error between the adjacent locations and speed of the agents,a delay parameter is also designed.A finite time consensus algorithm is proposed.By using the model of system transformation,it is proved that the system can complete the consensus work task in finite time and obtain the maximum delay value.Then,numerical simulation is performed using known conditions to prove the feasibility of this method. |
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